private void ConfigureChannels(StepperMotorIndex motorIndex)
{
switch (motorIndex)
{
case StepperMotorIndex.SM1:
channels.AIn1 = 10;
channels.AIn2 = 9;
channels.BIn1 = 11;
channels.BIn2 = 12;
channels.PwmA = 8;
channels.PwmB = 13;
break;
case StepperMotorIndex.SM2:
channels.AIn1 = 4;
channels.AIn2 = 3;
channels.BIn1 = 5;
channels.BIn2 = 6;
channels.PwmA = 2;
channels.PwmB = 7;
break;
}
}
public void MakeStep(StepperMotorIndex motorIndex, MotorDirection direction, SteppingMode steppingMode = SteppingMode.FullSteps)
{
ConfigureChannels(motorIndex);
UpdateCurrentStep(direction);
UpdateChannels(steppingMode);
}
public void Move(StepperMotorIndex motorIndex, MotorDirection direction, uint steps, SteppingMode steppingMode = SteppingMode.FullSteps)
{
var msDelay = RpmToMsDelay(Rpm, steppingMode);
steps = GetTotalStepCount(steppingMode, steps);
for (uint i = 0; i < steps; i++)
{
MakeStep(motorIndex, direction, steppingMode);
Task.Delay(msDelay).Wait();
}
}
public void MoveWithSpeedAdjustment(StepperMotorIndex motorIndex, MotorDirection direction, uint steps, SteppingMode steppingMode = SteppingMode.FullSteps)
{
steps = GetTotalStepCount(steppingMode, steps);
var speedRamp = SpeedRampHelper.GenerateTrapezoidalRamp(steps);
for (uint i = 0; i < steps; i++)
{
MakeStep(motorIndex, direction, steppingMode);
var msAutoDelay = RpmToMsDelay(speedRamp[i], steppingMode);
Task.Delay(msAutoDelay).Wait();
}
}
private void StepperMotorTest(StepperMotorIndex motorIndex, SteppingMode steppingMode = SteppingMode.FullSteps)
{
if (stepperMotor.IsInitialized)
{
// Configure steps, and RPM
const uint steps = 200;
const byte rpm = 20;
// Set speed
stepperMotor.SetSpeed(rpm);
// Move motor forward
stepperMotor.Move(motorIndex, MotorDirection.Forward, steps, steppingMode);
//stepperMotor.MoveWithSpeedAdjustment(motorIndex, MotorDirection.Forward, steps, steppingMode);
// ... and go back to initial position
stepperMotor.Move(motorIndex, MotorDirection.Backward, steps, steppingMode);
//stepperMotor.MoveWithSpeedAdjustment(motorIndex, MotorDirection.Backward, steps, steppingMode);
}
}
